CN103869350A - Magnetic field information-based urban complex road condition satellite navigation auxiliary positioning method and equipment - Google Patents
Magnetic field information-based urban complex road condition satellite navigation auxiliary positioning method and equipment Download PDFInfo
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- CN103869350A CN103869350A CN201410035810.0A CN201410035810A CN103869350A CN 103869350 A CN103869350 A CN 103869350A CN 201410035810 A CN201410035810 A CN 201410035810A CN 103869350 A CN103869350 A CN 103869350A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/12—Measuring magnetic properties of articles or specimens of solids or fluids
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Abstract
The invention provides a magnetic field information-based urban complex road condition satellite navigation auxiliary positioning method, which comprises the following steps of firstly, obtaining the magnetic field signal of the position where a user is located by utilizing magnetic sensitive equipment, analyzing the magnetic field signal by adopting the time domain and frequency domain method, and extracting feature information; secondly, matching the magnetic feature information with the magnetic features of the road conditions such as the viaduct, the highway bridge, the tunnel and the urban road, and determining the features of the position where the equipment user is located. The position feature information is supplied to a satellite navigation system as auxiliary positioning information. According to the method, the present navigation algorithm does not need to be modified largely, the method is simple and effective, the realization cost is low, and the engineering realization is convenient.
Description
Technical field
The invention belongs to field of navigation technology, relate under the complex road condition of a kind of city, improve the method for satellite navigation positioning precision, relate in particular to the Measurement Method for Magnetic Field under the complex road condition of a kind of city and utilize magnetic-field measurement to improve the method for satellite navigation positioning precision.
Background technology
Satellite navigation system is the main positioning means of the equipment such as the automatic navigator commonly used in the market, Mobile Telephone Gps instrument, cyberdog.The satellite navigation signals that it provides by GPS, GLONASS and Big Dipper Navsat etc., longitude, the latitude at acquisition navigator place, coordinating electronic chart to determine the geographic position of navigator.The widespread use of GPS navigation chip, Big Dipper navigation chip is also in progressively applying.In most of the cases, satellite navigation system can accurately provide user's positional information, but satellite navigation system elevation information precision deficiency, city complex road condition use in navigator cannot accurately tell user in above overpass or below, cause navigator usually to occur wrong navigation information.
To this, in the urgent need to a kind of new solution.
Summary of the invention
Based on above-mentioned technological deficiency of the prior art, the object of this invention is to provide a kind of city complex road condition satellite navigation assisted location method and corresponding navigator fix equipment based on Magnetic Field.
According to an aspect of the present invention, provide a kind of city complex road condition satellite navigation assisted location method based on Magnetic Field, it is characterized in that, comprise the steps:
Step 3, at least according to described auxiliary positioning information, determine described user position.
Preferably, described magnetic susceptibility equipment comprise in following equipment any or appoint multiple:
The magnetic sensor that-navigator carries; And
-by the external magnetic susceptibility equipment of near-field communication equipment.
Preferably, the Magnetic Field that at least adopts numerical filter method to obtain sampling in described step 1 is carried out numerical value pre-service.
Preferably, any at least adopting with the following method in described step 1 or appoint and multiple described field signal is analyzed:
-Time Domain Analysis;
-frequency-domain analysis method; And
-multicharacteristic information fusion method.
According to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 1 to 4, it is characterized in that, comprise the steps: in the step of described in described step 2, described field signal characteristic information being mated with the magnetic feature of the road conditions of one or more road types
I. at least carry out the operation that described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types N time, and using the result of mating at every turn as a single characteristic matching result, wherein N is greater than 1;
Ii. an above-mentioned N continuous single characteristic matching result is carried out to probability statistics, and determine described user present position characteristic information according to probability statistics result.
Preferably, described navigational system comprise in following equipment any or appoint multiple:
The navigator of-built-in magnetic sensor; And
The navigator of-external magnetic sensor.
Preferably, described navigational system comprise in following equipment any or appoint multiple:
-satellite navigator;
-cyberdog;
-drive recorder; And
-having electronic compass has the smart mobile phone application program of navigation feature.
According to another aspect of the present invention, provide a kind of city complex road condition satellite navigation equipment for user based on Magnetic Field, it is characterized in that, comprising:
The first treating apparatus, it,, for the user present position field signal obtaining by magnetic susceptibility equipment is carried out to frequency domain or time-domain analysis, extracts the characteristic information of described field signal;
The second treating apparatus, it is for mating described field signal characteristic information with the magnetic feature of the road conditions of one or more road types, determine equipment user present position characteristic information, and described position feature information is offered to navigational system, as auxiliary positioning information;
The 3rd treating apparatus, it according to described auxiliary positioning information, determines described user position at least.
Preferably, the described city complex road condition satellite navigation equipment for user based on Magnetic Field also comprises a magnetic susceptibility equipment, described magnetic susceptibility equipment be at least electrically connected with described the first treating apparatus and with described the first treating apparatus communication, wherein, described magnetic susceptibility equipment comprise in following equipment any or appoint multiple:
-built-in magnetic sensor; And
-by the external magnetic susceptibility equipment of near-field communication equipment.
Preferably, described the first treating apparatus at least comprises the first pretreatment unit, and it carries out numerical value pre-service for Magnetic Field sampling being obtained by numerical filter method.
Preferably, described the first treating apparatus comprise following any or appoint multiple sub-device:
The first analytical equipment, it is for analyzing described field signal by Time Domain Analysis;
The second analytical equipment, it is for analyzing described field signal by frequency-domain analysis method; And
The 3rd analytical equipment, it is for analyzing described field signal by multicharacteristic information fusion method.
Preferably, described the second treating apparatus at least comprises following sub-device:
The first coalignment, it is at least carrying out the operation that described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types N time, and using the result of mating at every turn as a single characteristic matching result, wherein N is greater than 1;
The first statistic device, it is for an above-mentioned N continuous single characteristic matching result is carried out to probability statistics, and determines described user present position characteristic information according to probability statistics result.
Preferably, the described city complex road condition satellite navigation equipment for user based on Magnetic Field can occur in following any mode:
-satellite navigator;
-cyberdog;
-drive recorder;
-having electronic compass has the smart mobile phone application program of navigation feature.
Preferably, for above-mentioned city complex road condition satellite navigation assisted location method or the above-mentioned city complex road condition satellite navigation equipment for user based on Magnetic Field based on Magnetic Field, described numerical filter method at least comprise in following method any or appoint multiple:
-medium filtering;
-Butterworth filter;
-Chebyshev filter; And
-FIR Windowed filtering device.
Preferably, for above-mentioned city complex road condition satellite navigation assisted location method or the above-mentioned city complex road condition satellite navigation equipment for user based on Magnetic Field based on Magnetic Field, described time domain approach comprises: to magnetic total amount, uniaxial magnetic component is averaged, variance, standard deviation, the measure of spread, covariance, statistics with histogram method, any in the vector similarity analytical approach of magnetic vector or appoint multiple, described frequency domain method comprises: pass through FFT, the methods such as STFT obtain power spectrum, amplitude spectrum, phase spectrum, any in cyclo-stationary Spectral characteristics analysis or appoint multiple.
Preferably, for above-mentioned city complex road condition satellite navigation assisted location method or the above-mentioned city complex road condition satellite navigation equipment for user based on Magnetic Field based on Magnetic Field, described road type at least comprise in overpass, vehicular bridge, tunnel, urban road any or appoint multiple.
Preferably, for above-mentioned city complex road condition satellite navigation assisted location method or the above-mentioned city complex road condition satellite navigation equipment for user based on Magnetic Field based on Magnetic Field, the magnetic signature of using in the feature matching method of position in described step 2 or in described the second treating apparatus comprises: magnetic total amount, magnetic vector three-component, the gradient of magnetic total amount, vector, the similarity of magnetic vector, the amplitude spectrum of magnetic total amount, vector, phase spectrum, any in cyclo-stationary Spectral characteristics analysis or appoint multiple.
According to another aspect of the present invention, also provide a kind of city complex road condition satellite navigation assisted location method based on Magnetic Field, it is characterized in that, comprise the steps:
Step 3, at least according to described auxiliary positioning information, determine described user position.
Preferably, described magnetic susceptibility equipment comprise in following equipment any or appoint multiple:
The magnetic sensor that-navigator carries; And
-by the external magnetic susceptibility equipment of near-field communication equipment.
Preferably, the Magnetic Field that at least adopts numerical filter method to obtain sampling in described step 1 is carried out numerical value pre-service.
Preferably, described numerical filter method at least comprise in following method any or appoint multiple:
-medium filtering;
-Butterworth filter;
-Chebyshev filter; And
-FIR Windowed filtering device.
Preferably, any at least adopting with the following method in described step 1 or appoint and multiple described field signal is analyzed:
Time Domain Analysis;
Frequency-domain analysis method; And
Multicharacteristic information fusion method.
Preferably, described time domain approach comprises: to magnetic total amount, uniaxial magnetic component average, variance, standard deviation, the measure of spread, covariance, statistics with histogram method, any in the vector similarity analytical approach of magnetic vector or appoint multiple, described frequency domain method comprises: obtain power spectrum, amplitude spectrum, phase spectrum by the method such as FFT, STFT, any in cyclo-stationary Spectral characteristics analysis or appoint multiple.
Preferably, the road type in described step 2 at least comprise in overpass, vehicular bridge, tunnel, urban road any or appoint multiple.
Preferably, the magnetic signature of using in the feature matching method of position in described step 2 comprises: magnetic total amount, magnetic vector three-component, the gradient of magnetic total amount, vector, the similarity of magnetic vector, any in amplitude spectrum, the phase spectrum of magnetic total amount, vector or appoint multiple.
Preferably, comprise the steps: in the step of described in described step 2, described field signal characteristic information being mated with the magnetic feature of the road conditions of one or more road types
I. at least carry out the operation that described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types N time, and using the result of mating at every turn as a single characteristic matching result, wherein N is greater than 1;
Ii. an above-mentioned N continuous single characteristic matching result is carried out to probability statistics, and determine described user present position characteristic information according to probability statistics result.
Preferably, described navigational system comprise in following equipment any or appoint multiple:
The navigator of built-in magnetic sensor; And
The navigator of-external magnetic sensor.
Preferably, described navigational system comprise in following equipment any or appoint multiple:
-satellite navigator;
-cyberdog;
-drive recorder; And
-having electronic compass has the smart mobile phone application program of navigation feature.
The present invention does not need existing navigation algorithm to carry out large amendment, and method is simply effective, realizes cost low, is convenient to Project Realization.
Brief description of the drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become.
Fig. 1 illustrates according to the first embodiment of the present invention, a kind of process flow diagram of the city complex road condition satellite navigation assisted location method based on Magnetic Field;
Fig. 2 illustrates according to the first embodiment of the present invention, the city complex road condition satellite navigation aided positioning system message processing flow schematic diagram based on Time Domain Analysis;
Fig. 3 illustrates according to the first embodiment of the present invention, the city complex road condition satellite navigation aided positioning system message processing flow schematic diagram based on frequency-domain analysis method;
Fig. 4 illustrates according to the first embodiment of the present invention, the normal distribution statistical graph obtaining after treatment for the field signal collecting on overhead;
Fig. 5 illustrates according to the first embodiment of the present invention, for the normal distribution statistical graph obtaining after treatment at overhead lower collected field signal;
Fig. 6 illustrates according to the first embodiment of the present invention, for the normal distribution statistical graph obtaining after treatment at overhead lower collected field signal;
Fig. 7 illustrates according to a second embodiment of the present invention, the amplitude spectrogram obtaining after treatment for the field signal collecting on overhead;
Fig. 8 illustrates according to a second embodiment of the present invention, for the amplitude spectrogram obtaining after treatment at overhead lower collected field signal; And
Fig. 9 illustrates according to a second embodiment of the present invention, the amplitude spectrogram obtaining after treatment for the field signal that collected on the ground.
Embodiment
Those skilled in the art understand, city complex road condition satellite navigation assisted location method based on Magnetic Field provided by the present invention, mainly to utilize dissimilar road to there is different Magnetic Field, particularly, the reinforced concrete buildings that adopt such as overpass, vehicular bridge, tunnel more, and common urban road adopts pitch to pour into a mould the fact forming, further adopt again magnetic detector to obtain Magnetic Field, vehicle further determines that by the method for data analysis Vehicle Driving Cycle is on the road of which kind of type again, thereby it is better to realize precision, the navigation of better effects if.
Investigation Shanghai City is overhead known, in the reinforced concrete structure on overpass road surface, the interval of fine steel rib is about 15～20cm, cause intensity less weak (intensity is about the magnitude of hundred nT), higher (the typical speed per hour 60km/h of frequency, frequency is about 83～110Hz) the distortion of field, bridge pier place is bridge floor interval, using steel plate as joint, cause the distortion of field of strong (intensity is about the magnitude of thousand nT), frequency lower (typical speed per hour 60km/h, frequency is 0.2Hz) of intensity.In the time that vehicle runs into traffic congestion situation, typical speed per hour 5km/h, fine steel rib causes perpendicular to the changes of magnetic field frequency on ground and is about 7～9Hz, about 0.0167Hz distorts by force.
Under overhead, because overpass identity distance is greater than 5m from roof height, according to magnetic field estimation equation, even if consider that overpass fine steel rib produces field of dipole, the changes of magnetic field value of being brought by overpass is also 10 on bridge floor
-2doubly, and due to the existence of bridge pier, the distortion of field bringing is in the horizontal direction larger, frequency at 0.0167Hz (speed of a motor vehicle is 5km/h) to 0.2Hz (speed of a motor vehicle is 60km/h)
Below with reference to accompanying drawing, the present invention is made to further explanation.
Particularly, Fig. 1 illustrates according to the first embodiment of the present invention, a kind of process flow diagram of the city complex road condition satellite navigation assisted location method based on Magnetic Field.First perform step S101, utilize magnetic susceptibility equipment to obtain the field signal of user present position, by field signal is analyzed, extract described field signal characteristic information.Preferably, it will be appreciated by those skilled in the art that described magnetic susceptibility equipment has good susceptibility to equipment magnetic field around, can detect the magnetic field situation of surrounding road well.Further, those skilled in the art understand, described magnetic susceptibility equipment can be both the magnetic sensor that navigator carries, and can be also to realize by external magnetic susceptibility equipment of near-field communication equipment such as USB, WIFI, bluetooth, NFC, and this does not affect flesh and blood of the present invention.Preferably, it will be appreciated by those skilled in the art that the field signal for the described user present position collecting by described magnetic sensor, and then by the method that adopts time domain, frequency domain, the described field signal collecting is analyzed.Preferably, it will be appreciated by those skilled in the art that the time-domain analysis of signal, refer to the method for directly in time domain, system dynamic course being studied.The frequency-domain analysis of signal, refers to and adopts Fourier transform that time-domain signal is transformed to frequency-region signal, thereby helps people to understand the feature of signal from another angle.Preferably, it will be appreciated by those skilled in the art that by the time domain to signal and frequency-domain analysis, make collected field signal have more certain regularity, can facilitate better the contrast of the field signal of different condition of road surface.Further, it will be appreciated by those skilled in the art that the processing to the field signal collecting by above-mentioned steps, can collect well the characteristic information of described field signal.
Next enters step S102, and magnetic characteristic information is mated with the magnetic feature of the road conditions of different kinds of roads type, determines equipment user present position feature, and position feature information is offered to satellite navigation system, as auxiliary positioning information.Preferably, it will be appreciated by those skilled in the art that described road type should comprise overpass, vehicular bridge, tunnel, urban road etc. any or appoint multiple.Further, those skilled in the art understand, before magnetic feature mates, should carry out field signal to roads such as overpass, vehicular bridge, tunnel, urban roads and gather and analyze carrying out, set up a database that includes the magnetic feature of the different kinds of roads type of having analyzed.By the analysis of the field signal to equipment user present position, obtain the magnetic feature of equipment user present position, further, the described magnetic feature obtaining is mated according to storehouse with the magnetic character figure that includes different kinds of roads type establishing, and then can determine the feature of equipment user present position.Further, those skilled in the art understand, described position feature specifically refer to equipment user enforcement the type of road, be specially any one or more of overpass, vehicular bridge, tunnel or urban road, for different road types, should there is different field signals, therefore for different road types, can there is very significantly distinctiveness.By the user's that collects road magnetic field signal, it is mated, can judge that the source of the field signal that place collects is which kind of type road is.
Single match the possibility of result, because the impact such as the speed of a motor vehicle, environment causes misjudgement, therefore, repeatedly mates continuously, and matching result is carried out to probability statistics, finally completes characteristic matching.
Finally perform step S103, on the basis of the above-mentioned city complex road condition satellite navigation assisted location method based on Magnetic Field, determine the position at user place.Preferably, those skilled in the art understand, the navigator of described design, in the analysis of passing through the field signal to equipment user present position based on above-mentioned, and the field signal collecting is carried out signal analysis and is obtained the situation of magnetic feature, and obtained magnetic feature is mated, confirm equipment user road type of living in, and then design based on built-in magnetic sensor or the navigator based on external magnetic sensor.Further, it will be appreciated by those skilled in the art that determining of user position carrys out specific implementation by navigator, further, it will be appreciated by those skilled in the art that described navigator can be any in all kinds equipment such as satellite navigator, cyberdog, drive recorder.Further, it will be appreciated by those skilled in the art that the longitude, latitude and the time that collect in conjunction with described navigation signal, and the position feature obtaining by described step S102, can determine the particular location of equipment user.
In sum, those skilled in the art understand, by the field signal of described road is carried out to collection analysis, obtain the magnetic feature of equipment place road, further, the magnetic feature of the magnetic feature obtaining and different kinds of roads type is analyzed, and then the road type of definite equipment place road, obtain the position feature of equipment user, further, it will be appreciated by those skilled in the art that again longitude, latitude and the time at the equipment user place that navigation system collects, can determine the concrete positional information of equipment user.Preferably, those skilled in the art understand, described navigational system is mainly used to sesolution apparatus user and travels on overhead or under overhead, do not having by the collection analysis to magnetic feature, in the situation of uncertain road type, existing navigational system intelligence is determined longitude and latitude, but due to the complexity of real road conditions, in the case of definite longitude and latitude, cannot tell equipment user is to be in overhead going up, or under overhead.By described navigational system, confirming longitude and latitude, then coordinating the road type that collects, just can determine equipment user and travel on overhead or under overhead, the precision that has improved greatly location and navigation, has adapted to present complex road condition better.Further, can, at the elevation information of the complicated road of simple and effective correct differentiation in, latitude information of degree of precision, provide navigation Service accurately.
Fig. 2 illustrates according to the first embodiment of the present invention, the Magnetic Field processing flow chart of built-in magnetic sensor.It will be appreciated by those skilled in the art that the Magnetic Field obtaining by the sample frequency of 100Hz is after sliding window medium filtering; Be normalized again; Then all Z-direction magnetic field values that obtain in 2s are obtained to variance by normal distribution fitting formula; Then by the variance obtaining with analyze by mass data overhead upper, overhead under, the eigenwert comparison such as tunnel, vehicular bridge, urban pavement, obtain clear and definite position feature by coupling.
Fig. 3 illustrates according to a second embodiment of the present invention, the Magnetic Field processing flow chart of external magnetic sensor.It will be appreciated by those skilled in the art that the Magnetic Field obtaining by the sample frequency of 100Hz is after sliding window medium filtering; Be normalized again; Then all Z-direction magnetic field values that obtain in 2s are obtained to frequency domain information by Fast Fourier Transform (FFT) (FFT); Then by the frequency domain information obtaining with analyze by mass data overhead upper, overhead under, the eigenwert comparison such as tunnel, vehicular bridge, urban pavement, obtain clear and definite position feature by coupling.
Further, extremely embodiment illustrated in fig. 3 with reference to above-mentioned Fig. 1, it will be appreciated by those skilled in the art that in the step of described in step 2 shown in Fig. 1, described field signal characteristic information being mated with the magnetic feature of the road conditions of one or more road types and comprise the steps:
I. at least carry out the operation that described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types N time, and using the result of mating at every turn as a single characteristic matching result, wherein N is greater than 1;
Ii. an above-mentioned N continuous single characteristic matching result is carried out to probability statistics, and determine described user present position characteristic information according to probability statistics result.
Particularly, those skilled in the art understand, in order to reduce the error to magnetic characteristic information coupling, can preferably be magnetic characteristic matching N time, and be weighted average or other probability statistics according to matching result repeatedly and operate to determine coupling the most, a most rational magnetic feature, and then determine described user present position characteristic information according to this magnetic feature.Those skilled in the art understand can carry out different application in conjunction with technical solution of the present invention, and this all, within invention scope of the present invention, does not affect technology contents of the present invention.
Fig. 4 illustrates according to the first embodiment of the present invention, the normal distribution statistical graph obtaining after treatment for the field signal collecting on overhead.Fig. 5 illustrates according to the first embodiment of the present invention, for the normal distribution statistical graph obtaining after treatment at overhead lower collected field signal.Fig. 6 illustrates according to the first embodiment of the present invention, for the normal distribution statistical graph obtaining after treatment at overhead lower collected field signal.Fig. 7 illustrates according to a second embodiment of the present invention, the frequency domain figure obtaining after treatment for the field signal collecting on overhead.Fig. 8 illustrates according to a second embodiment of the present invention, for the frequency domain figure obtaining after treatment at overhead lower collected field signal.Fig. 9 illustrates according to a second embodiment of the present invention, the frequency domain figure obtaining after treatment for the field signal that collected on the ground.
Correspondingly, with reference to above-mentioned Fig. 5 to Fig. 9, it will be appreciated by those skilled in the art that these legends show various relevant data, do not repeat them here.
Be described with reference to the accompanying drawings the preferred embodiments of the present invention below.
The city complex road condition satellite navigation assisted location method of embodiment mono-based on Magnetic Field time-domain analysis
As shown in Figure 2, specific implementation method is as follows for the design flow diagram of the city complex road condition satellite navigation assisted location method based on Magnetic Field time-domain analysis that the present invention proposes:
By continuous sampling time 2s, the magnetic vector data that sample frequency is 100Hz are removed wild value by moving window (window width is 3 sampled values) medium filtering, obtain length and be 200 magnetic vector M array;
Again magnetic vector M is normalized, obtains the magnetic vector m array that the length after normalization is 200:
m＝M/norm(M)
Z-direction value in continuous 200 magnetic vectors is taken out, adopts normal distyribution function matching:
[c，σ]＝normfit(m
z)
Flag=2; If σ > is σ
on overhead
Flag=1; If σ
on overhead> σ > σ
under overhead
Flag=0; If σ
under overhead> σ
Again continuous 10 conclusions are carried out to probability statistics, provide judged result accurately if probability is greater than 0.7.
Because overpass, road and bridge, tunnel etc. all adopt reinforced concrete structure, bar construction wherein produces greatly distortion to surrounding magnetic field, typical identification feature that therefore can be using Magnetic Field as positional information.By firing test data visible (as shown in Figure 4, Figure 5 and Figure 6), on overpass, under (0.0416) and overpass, the magnetic field z of (0.0058) and surface road (0.0004) all has obvious difference to the variance after normal distribution matching, can be used as the magnetic characteristic feature of overhead bridge floor and surface road.
Step 3, provide positional information for navigation information
As shown in Figure 2, the position signalling identifying by magnetic feature (as overhead bridge floor, surface road, tunnel, vehicular bridge etc.) is directly inputted to electronic map match software, can, at the elevation information of the complicated road of simple and effective correct differentiation in, latitude information of degree of precision, provide navigation Service accurately.
The satellite navigation solution of embodiment bis-external magnetic sensors
As shown in Figure 3, specific implementation method is as follows for the design flow diagram of the city complex road condition satellite navigation assisted location method based on Magnetic Field frequency-domain analysis that the present invention proposes:
Signal sampling and the feature extraction of step 1, external magnetic sensor probe
External magnetic sensor is sampled, for example preferably sample frequency is 100Hz, the data that obtain of sampling in continuous 2s are removed to open country value by moving window (window width is 3 sampled values) medium filtering, obtain length and be 200 magnetic vector M array;
Again magnetic vector M is normalized, obtains the magnetic vector m array that the length after normalization is 200:
m＝M/norm(M)
Z-direction value in continuous 200 magnetic vectors is taken out, adopts FFT to carry out frequency-domain analysis:
MFFT＝FFT(m
z)
To amplitude summation more than 5Hz, obtain characteristic parameter δ again
Flag=2; If δ > is δ
on overhead
Flag=1; If δ
on overhead> δ > δ
under overhead
Flag=0; If δ
under overhead> δ
Again continuous 10 conclusions are carried out to probability statistics, provide judged result accurately if probability is greater than 0.7.
From firing test data, on overpass, under (0.1055), overpass, the magnetic total amount frequency domain of (0.0142) and surface road (6.4846e-004) also has obvious difference, can be used as the magnetic characteristic feature of overhead bridge floor and surface road.According to characteristic matching result, position signalling is transferred to the equipment such as satellite navigator by modes such as USB, bluetooth, WIFI, NFC.
As shown in Figure 2, revise the electronic map match software in existing satellite navigation, introduce by modes such as USB, bluetooth, WiFi, NFC and transmit the position feature signal (as overhead bridge floor, surface road, tunnel, vehicular bridge etc.) coming, can, at the elevation information of the complicated road of simple and effective correct differentiation in, latitude information of degree of precision, provide navigation Service accurately.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (17)
1. the city complex road condition satellite navigation assisted location method based on Magnetic Field, is characterized in that, comprises the steps:
Step 1, the user present position field signal obtaining by magnetic susceptibility equipment is carried out to frequency domain or time-domain analysis, extract the characteristic information of described field signal;
Step 2, described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types, determine equipment user present position characteristic information, and described position feature information is offered to navigational system, as auxiliary positioning information;
Step 3, at least according to described auxiliary positioning information, determine described user position.
2. the city complex road condition satellite navigation assisted location method based on Magnetic Field according to claim 1, is characterized in that, described magnetic susceptibility equipment comprise in following equipment any or appoint multiple:
The magnetic sensor that-navigator carries; And
-by the external magnetic susceptibility equipment of near-field communication equipment.
3. the city complex road condition satellite navigation assisted location method based on Magnetic Field according to claim 1 and 2, is characterized in that, the Magnetic Field that at least adopts numerical filter method to obtain sampling in described step 1 is carried out numerical value pre-service.
4. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claims 1 to 3, it is characterized in that any at least adopting with the following method in described step 1 or appoint and multiple described field signal is analyzed:
-Time Domain Analysis;
-frequency-domain analysis method; And
-multicharacteristic information fusion method.
5. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 1 to 4, it is characterized in that, comprise the steps: in the step of described in described step 2, described field signal characteristic information being mated with the magnetic feature of the road conditions of one or more road types
I. at least carry out the operation that described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types N time, and using the result of mating at every turn as a single characteristic matching result, wherein N is greater than 1;
Ii. an above-mentioned N continuous single characteristic matching result is carried out to probability statistics, and determine described user present position characteristic information according to probability statistics result.
According to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 1 to 5 or, it is characterized in that, described navigational system comprise in following equipment any or appoint multiple:
The navigator of-built-in magnetic sensor; And
The navigator of-external magnetic sensor.
7. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 1 to 6, it is characterized in that, described navigational system comprise in following equipment any or appoint multiple:
-satellite navigator;
-cyberdog;
-drive recorder; And
-having electronic compass has the smart mobile phone application program of navigation feature.
8. the city complex road condition satellite navigation equipment for user based on Magnetic Field, is characterized in that, comprising:
The first treating apparatus, it,, for the user present position field signal obtaining by magnetic susceptibility equipment is carried out to frequency domain or time-domain analysis, extracts the characteristic information of described field signal;
The second treating apparatus, it is for mating described field signal characteristic information with the magnetic feature of the road conditions of one or more road types, determine equipment user present position characteristic information, and described position feature information is offered to navigational system, as auxiliary positioning information;
The 3rd treating apparatus, it according to described auxiliary positioning information, determines described user position at least.
9. the city complex road condition satellite navigation equipment for user based on Magnetic Field according to claim 8, it is characterized in that, also comprise a magnetic susceptibility equipment, described magnetic susceptibility equipment be at least electrically connected with described the first treating apparatus and with described the first treating apparatus communication, wherein, described magnetic susceptibility equipment comprise in following equipment any or appoint multiple:
-built-in magnetic sensor; And
-by the external magnetic susceptibility equipment of near-field communication equipment.
10. the city complex road condition satellite navigation equipment for user based on Magnetic Field according to claim 8 or claim 9, it is characterized in that, described the first treating apparatus at least comprises the first pretreatment unit, and it carries out numerical value pre-service for Magnetic Field sampling being obtained by numerical filter method.
The city complex road condition satellite navigation equipment for user based on Magnetic Field in 11. according to Claim 8 to 10 described in any one, is characterized in that, described the first treating apparatus comprise following any or appoint multiple sub-device:
The-the first analytical equipment, it is for analyzing described field signal by Time Domain Analysis;
The-the second analytical equipment, it is for analyzing described field signal by frequency-domain analysis method; And
-tri-analytical equipments, it is for analyzing described field signal by multicharacteristic information fusion method.
The city complex road condition satellite navigation equipment for user based on Magnetic Field in 12. according to Claim 8 to 11 described in any one, is characterized in that, described the second treating apparatus at least comprises following sub-device:
The first coalignment, it is at least carrying out the operation that described field signal characteristic information is mated with the magnetic feature of the road conditions of one or more road types N time, and using the result of mating at every turn as a single characteristic matching result, wherein N is greater than 1;
The first statistic device, it is for an above-mentioned N continuous single characteristic matching result is carried out to probability statistics, and determines described user present position characteristic information according to probability statistics result.
The city complex road condition satellite navigation equipment for user based on Magnetic Field in 13. according to Claim 8 to 12 described in any one, it is characterized in that, the described city complex road condition satellite navigation equipment for user based on Magnetic Field can occur in following any mode:
-satellite navigator;
-cyberdog;
-drive recorder.
14. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 3 to 7 or according to claim 10 to the city complex road condition satellite navigation equipment for user based on Magnetic Field described in any one in 13, it is characterized in that, described numerical filter method at least comprise in following method any or appoint multiple:
-medium filtering;
-Butterworth filter;
-Chebyshev filter; And
-FIR Windowed filtering device.
15. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 4 to 7 or according to claim 11 to the city complex road condition satellite navigation equipment for user based on Magnetic Field described in any one in 14, it is characterized in that, described time domain approach comprises: to magnetic total amount, uniaxial magnetic component is averaged, variance, standard deviation, the measure of spread, covariance, statistics with histogram method, any in the vector similarity analytical approach of magnetic vector or appoint multiple, described frequency domain method comprises: pass through FFT, the methods such as STFT obtain power spectrum, amplitude spectrum, any in phase spectrum or appoint multiple.
16. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 1 to 7 or the city complex road condition satellite navigation equipment for user based on Magnetic Field described in any one according to Claim 8 to 15, it is characterized in that, described road type at least comprise in overpass, vehicular bridge, tunnel, urban road any or appoint multiple.
17. according to the city complex road condition satellite navigation assisted location method based on Magnetic Field described in any one in claim 1 to 7 or the city complex road condition satellite navigation equipment for user based on Magnetic Field described in any one according to Claim 8 to 16, it is characterized in that, the magnetic signature of using in the feature matching method of position in described step 2 or in described the second treating apparatus comprises: magnetic total amount, magnetic vector three-component, magnetic total amount, the gradient of vector, the similarity of magnetic vector, magnetic total amount, the amplitude spectrum of vector, any in phase spectrum or appoint multiple.
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